// Copyright (c) 2015-2016, ETH Zurich, Wyss Zurich, Zurich Eye
// All rights reserved.
//
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// modification, are permitted provided that the following conditions are met:
//     * Redistributions of source code must retain the above copyright
//       notice, this list of conditions and the following disclaimer.
//     * Redistributions in binary form must reproduce the above copyright
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//     * Neither the name of the ETH Zurich, Wyss Zurich, Zurich Eye nor the
//       names of its contributors may be used to endorse or promote products
//       derived from this software without specific prior written permission.
//
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#include <ze/imu/gyroscope_model.hpp>

namespace ze {

//----------------------------
// White brownian noise model
GyroscopeModel::GyroscopeModel(
    const ImuIntrinsicModel::Ptr intrinsicModel,
    const ImuNoiseModel::Ptr noiseModel)
  : intrinsicModel_(intrinsicModel)
  , noiseModel_(noiseModel)
{
}

Vector3 GyroscopeModel::distort(const Eigen::Ref<const measurement_t>& w,
                                const Eigen::Ref<const measurement_t>& a) const
{
  return intrinsicModel_->distort(w, a);
}

Vector3 GyroscopeModel::undistort(const Eigen::Ref<const measurement_t>& w,
                                  const Eigen::Ref<const measurement_t>& a) const
{
  return intrinsicModel_->undistort(w, a);
}

} // namespace ze
